Frames

This file presents the different api_doc/frames:Frames - Command functions available with the Frames API

All functions to control the robot are accessible via an instance of the class api_doc/niryo_robot:NiryoRobot

robot = NiryoRobot(<robot_ip_address>)

frames = frames.get_saved_dynamic_frame_list()
...

Frames - Command functions

List of functions subsections:

Frames functions

class pyniryo2.frames.frames.Frames(client)
get_saved_dynamic_frame_list()

Get list of saved dynamic frames

Example:

list_frame, list_desc = robot.frames.get_saved_dynamic_frame_list()
print(list_frame)
print(list_desc)
Returns:

list of dynamic frames name, list of description of dynamic frames

Return type:

dictionnaire{name:description}

get_saved_dynamic_frame(frame_name)

Get name, description and pose of a dynamic frame

Example:

frame = robot.frames.get_saved_dynamic_frame("default_frame")
Parameters:

frame_name (str) – name of the frame

Returns:

name, description, position and orientation of a frame

Return type:

namedtuple(name(str), description(str), position(list[float]), orientation(list[float]))

save_dynamic_frame_from_poses(frame_name, description, pose_origin, pose_x, pose_y, belong_to_workspace=False)

Create a dynamic frame with 3 poses (origin, x, y)

Example:

pose_o = [0.1, 0.1, 0.1, 0, 0, 0]
pose_x = [0.2, 0.1, 0.1, 0, 0, 0]
pose_y = [0.1, 0.2, 0.1, 0, 0, 0]

robot.frames.save_dynamic_frame_from_poses("name", "une description test", pose_o, pose_x, pose_y)
Parameters:

  • frame_name (str) – name of the frame

  • description (str) – description of the frame

  • pose_origin (list[float] [x, y, z, roll, pitch, yaw]) – pose of the origin of the frame

  • pose_x (list[float] [x, y, z, roll, pitch, yaw]) – pose of the point x of the frame

  • pose_y (list[float] [x, y, z, roll, pitch, yaw]) – pose of the point y of the frame

  • belong_to_workspace (boolean) – indicate if the frame belong to a workspace

Returns:

status, message

Return type:

(int, str)

save_dynamic_frame_from_points(frame_name, description, point_origin, point_x, point_y, belong_to_workspace=False)

Create a dynamic frame with 3 points (origin, x, y)

Example:

point_o = [-0.1, -0.1, 0.1]
point_x = [-0.2, -0.1, 0.1]
point_y = [-0.1, -0.2, 0.1]

robot.frames.save_dynamic_frame_from_points("name", "une description test", point_o, point_x, point_y)
Parameters:

  • frame_name (str) – name of the frame

  • description (str) – description of the frame

  • point_origin (list[float] [x, y, z]) – origin point of the frame

  • point_x (list[float] [x, y, z]) – point x of the frame

  • point_y (list[float] [x, y, z]) – point y of the frame

  • belong_to_workspace (boolean) – indicate if the frame belong to a workspace

Returns:

status, message

Return type:

(int, str)

edit_dynamic_frame(frame_name, new_frame_name, new_description)

Modify a dynamic frame

Example:

robot.frames.edit_dynamic_frame("name", "new_name", "new description")
Parameters:

  • frame_name (str) – name of the frame

  • new_frame_name (str) – new name of the frame

  • new_description (str) – new description of the frame

Returns:

status, message

Return type:

(int, str)

delete_saved_dynamic_frame(frame_name, belong_to_workspace=False)

Delete a dynamic frame

Example:

robot.frames.delete_saved_dynamic_frame("name")
Parameters:

  • frame_name (str) – name of the frame to remove

  • belong_to_workspace (boolean) – indicate if the frame belong to a workspace

Returns:

status, message

Return type:

(int, str)